How do telescoping arms like 4265 and 2056 had for their climbers last year work?
Sent from my iPhone using Tapatalk
Not certain for 2056, but the other is a rope system like this: https://www.google.com/patents/US4932176
See Fig. 17-19, for example. You can see some of it within their reveal video: https://www.youtube.com/watch?v=bUoY30MjLEg
This thread from after the 2016 season has relevant information on the topic.
A number of teams here with telescoping arms or other designs shared plenty of detail, hope this helps.
I looked into this last year. Back at 2056s conference I was able to get a close look at their telescopic arms, and I learned a lot about how they work. Just to clarify, I am not a member on 2056, so I am not stating this as a fact. This is just based on what I was able to gather from my personal research, and what I have gathered from talking to them.
To start off, they uses gas shocks for the extension of the arm. The gas shocks extended the arms up, and were held back by 2 small cylinders. The telescopic arms extended out with the use of constant force springs. You probably have seen these before, as they do come in the kit of parts. 2056 used a winch mechanism on each arm that was powered by 2 775 pros (per arm) which pulled back the telescopic arm with a rope attached to the final stage on the arm, and locked it in place.
If you want more information, I suggest you look at their website. They have some pretty good detailed pictures on there.
Paulius Pace
Team 3161
For anyone doing linear hangs like this in the future, this is a great setup to copy since you only need high force in the retract direction. It makes the cable routing for a 2 stage hang just a single string in tension (from tip of hang to to the drum). This lets you leave a lot less clearance in the assembly as you don’t have the complicated cascade or continuous cable rigging w/ idlers all over.
I am happy to answer any questions you may have about our climber from that year.
I think I understand how the telescoping mechanism works now. I am mostly concerned about how to make the system compact and use minimal clearance between the tubes. I am also wondering how different team design the bearing placement.
Sent from my iPhone using Tapatalk
1768’s climbing mechanism is detailed in our 2016 Technical Notes, attached here. We used 1/16" wall 2x2, 1.5x1.5, and 1x1 tubes, with 3/16" clearance between tubes. We chose Dynaroll track roller bearings to take forward and backward loads, and delrin pads for side-to-side loads. I’d be happy to answer questions, if you have any.
Triple Helix developed a compact linear actuator throughout the 2015 and 2016 seasons and successfully deployed the design in both of those games.
This video highlights usages of the mechanism in gameplay.
CAD of both Triple Helix robots can be downloaded from the links in this post.
